👀 Overview

This release refactors Orbit APIs to make them more modular and performance-efficient. It also introduces various new functionalities, such as batched sensors and managers handling randomization, termination, action spaces, and curriculum.

Full Changelog: https://github.com/NVIDIA-Omniverse/orbit/compare/v0.1.0...v0.2.0

✨ New Features

• Procedural terrain generation using height-fields and trimesh library
• Sensors for contact sensing, frame transformations, and GPU-based ray-casting
• Scene manager to handle a collection of assets and sensors
• Managers to handle various aspects of environment designing - action space, observation space, randomization, termination, rewards, and curriculum
• Spawning support to load meshes in different formats (OBJ, FBX, STL) and URDF files into simulation directly
• Support for docker and cluster-based deployments
• New environments for flat and rough terrain locomotion from legged_gym

🔧 Improvements

• Merged the previous type-specific static markers into a unified VisualizationMarkers class
• Switched to using PhysX interfaces directly instead of Isaac Sim interface classes for performance
• Migrated the gym.Env class from the OpenAI Gym 0.21 version to the Gymnasium v0.29 version

💔 Breaking Changes

This release is incompatible with v0.1.0 due to heavy refactoring and changes. We recommend users revisit the tutorials to familiarize themselves with the new APIs. We apologize for any inconvenience caused but believe the enhancements in this release justify the transition.

🤗 New Contributors

• @kouroshD
• @Toni-SM
• @pascal-roth
• @nikitardn
• @Dhoeller19
• @jsmith-bdai
• @AutonomousHansen
• @farbod-farshidian